Patent Application
20200340451
The following relates to a method and arrangement for determining an upper limit value for an active power controller of a wind park, relates to a method of controlling an active power controller of a wind park, relates to a method of controlling a wind park, and further relates to a control system for controlling an active power of a wind park and even further relates to a wind park.
A wind park may comprise plural wind turbines which may be connected to a point of common coupling. The wind park may conventionally be controlled to provide a reference active power at the point of common coupling. For this purpose, the conventional wind park may comprise a wind park controller which may control the individual wind turbines such as to output a cumulative active power which corresponds to the reference of the active power. Conventionally, the wind park controller may be supplied with an upper limit value of its output value corresponding to a cumulative maximally allowed active power.
The conventional wind park controller may comprise a PI-controller which may have an upper limit that its output is not allowed to exceed. Conventionally, a fixed upper limit value has been used for the wind park controller. The upper limit needs to be large enough to compensate for the electrical losses from the turbine terminals to the point of common coupling (PCC). It has been observed, that an overshoot, i.e. too much output of active power, may occur in a situation, where the wind speed increases from a relatively low wind speed to a relatively high wind speed. However, the larger the upper limit is, the higher the overshoot of the active power at the PCC may get. By the overshoot, instabilities of the utility grid, in particular oscillations, may be induced which may lead to risk of damage of other components or other problems.
Thus, there may be a need for a method and arrangement of determining an upper limit value of an active power controller of a wind park, there may be a need for a control method for controlling an active power controller, there may be a need for a method of controlling a wind park and there may further be a need for a control system for controlling an active power of a wind park and there may be a need for a wind park, wherein the above-mentioned problems are at least reduced.
According to an embodiment of the present invention it is provided a method of determining an upper limit value for an active power controller of a wind park comprising plural wind turbines connected at a point of common coupling, the method comprising: estimating a cumulative loss of active power occurring between output terminals of the plural wind turbines and the point of common coupling; determining the upper limit value based on the estimated loss of active power.
The method may be performed by an arrangement for determining an upper limit value according to an embodiment of the present invention, which may in particular be comprised in a wind park control system. The active power controller may be configured for controlling an active power at the point of common coupling to comply with a wind park active power reference. The active power controller may for example comprise a PID, a PI-controller or the like. The upper limit value for the active power controller restricts the output signal of the active power controller to be not exceeding the upper limit value. In particular, the upper limit value may thereby restrict the active power which is ultimately generated by the plural wind turbines which are (in particular indirectly via optional plural individual wind turbine controllers) controlled by the active power controller.
Each of the plural wind turbines may comprise a wind turbine tower, a nacelle mounted on top of the wind turbine tower, wherein the nacelle comprises an electric generator, for example a synchronous permanent magnet generator which is mechanically coupled to a rotation shaft at which plural rotor blades are connected. Each of the wind turbines may further comprise a converter, in particular AC-DC-AC-converter which is electrically coupled to output terminals of the generator, in order to convert a variable frequency power stream to a fixed frequency power stream. The wind turbines may further each comprise an optional wind turbine transformer.
Due to a transmission line between the output terminal of each wind turbine and the point of common coupling, during operation, a portion of the active power output generated by each of the wind turbines may be dissipated and may thereby be lost at the point of common coupling. The cumulative loss of active power may be estimated using mathematical/physical simulations and/or measurements. The cumulative loss of the active power may for example be calculated from individual losses of active power for each of the plural wind turbines. The cumulative loss of active power may in particular be estimated based on the active power at the point of common coupling, as measured or may be estimated based on a reference active power at the point of common connection. In particular, the cumulated loss may be estimated to have different values for different active power actually output at the point of common coupling or being different for different active power references.
Thus, the upper limit value is not a constant upper limit value (and also not linearly dependent on the active power) for different active power at the point of common coupling, but may change with different active power at the point of common coupling in a manner different from a linear relationship. Thereby, potential overshoot in situations, where the wind speed suddenly increases may be reduced.
According to an embodiment of the present invention, according to the dependence (of the loss on the common coupling point active power) the loss of active power increases with increasing active power at the point of common coupling, in particular the loss of active power increases stronger than linear with increasing active power at the point of common coupling. For higher active power at the point of common coupling, the upper limit value may be determined to be higher (different from a simple proportionality) than for lower active power at the point of common coupling. The loss of active power may in particular be a convex function (having derivative larger than zero that increases (not being constant as a linear function) with increasing active power) of the active power at the point of common coupling.
According to an embodiment of the present invention, estimating the loss of active power includes: establishing a relationship between the loss of active power and the active power at the point of common connection. The (e.g. mathematical) relationship may have been established previously and may subsequently be used for determining the cumulative loss of active power for a known active power at the point of common coupling or for a particular reference active power at the point of common coupling. Thereby, the method may be simplified and accelerated.
According to an embodiment of the present invention, the relationship is expressible as a mathematical equation describing the power loss as a polynomial of at least first order power or at least second power of the active power at the point of common connection. The mathematical equation or in general the relationship may be implemented in computer software. The polynomial may provide a simple method for describing the relationship.
According to an embodiment of the present invention, the polynomial is a second order polynomial. In particular, a coefficient in front of a square of the active power may be not equal to zero, this coefficient may in particular be larger than zero.
According to an embodiment of the present invention, the polynomial comprises coefficients which are adjusted to comply with experimental data including measured active power at the point of common connection and measured loss of active power. For example, for different active power output at the point of common coupling, the cumulative loss of active power may have been determined and included into the experimental data. Thereby, for example, the data may have been obtained under different environmental and/or operational conditions to obtain an average over different operational and environmental conditions.
According to an embodiment of the present invention, determining the upper limit value includes calculating the upper limit value as a sum of the estimated loss of active power and a wind park active power reference at the point of common coupling. Thus, the active power controller may be provided with the upper limit value such that the controller output signal is at most the estimated loss of active power above the wind park active power reference. Thereby, the control output signal is large enough to compensate for the electrical losses from the turbine terminals to the point of common coupling but furthermore reduces a risk of overshoot of the active power compared to the conventional art.
According to an embodiment of the present invention it is provided a method of controlling an active power controller of a wind park comprising plural wind turbines connected at a point of common coupling, the method comprising: performing a method of determining an upper limit value for the active power controller according to one of the preceding embodiments; supplying an error signal of active power, determined as difference between a wind park active power reference (e.g. Pref) and a measured active power at the point of common coupling, to the active power controller; determining, by the active power controller, an controller output signal based on the error signal and restricted to be not greater than the upper limit value.
The method may for example be carried out by a wind park controller or a control system according to embodiments of the present invention. The wind park active power reference may be determined in a number of manners, for example may be obtained from a utility grid operator. The controller output signal may in particular indicate a sum of active power reference values provided to all of the plural wind turbines. The active power controller may for example comprise or be a PI-controller. The PI-controller may comprise a proportion branch and an integration branch which are both configured by parameters. The output of the proportion branch and the output of the integrative branch may be summed (e.g. in a weighted manner) to arrive at the controller output signal. Furthermore, the controller output signal may be restricted by the upper limit value and by a lower limit value which may be set to 0 MW. Thus, the controller output signal is restricted to be between the lower limit value and the upper limit value.
According to an embodiment of the present invention it is provided a method of controlling a wind park comprising plural wind turbines connected at a point of common coupling, the method comprising: performing a method of controlling an active power controller of the wind park according to one of the preceding embodiments; determining plural active power wind turbine reference signal based on the controller output signal; and distributing the plural active power wind turbine reference signals to the plural wind turbines.
For example, the plural active power wind turbine reference signals may all be equal or may be different from each other, but their sum may substantially be equal to the controller output signal (or the cumulative active power reference corresponding to the controller output signal). Further, a particular distribution algorithm may be performed to cause particular wind turbines to provide more active power than other wind turbines of the wind park. The active power wind turbine reference signals may be distributed using any known communication methodology.
According to an embodiment of the present invention, the method for controlling the wind park further comprises operating the wind park at low wind condition at a wind park active power reference (e.g. Pref) such that the controller output signal substantially equals the upper limit value; operating the wind park at high wind condition at the same wind park active power reference (Pref) restricting overshoot to be lower than the estimated power loss estimated for the wind park active power reference.
When the wind park is operated at a relatively low wind condition, the active power controller may provide the controller output signal substantially equal to the upper limit value, since the actual wind condition may not be sufficient for the plural wind turbines to provide the required active power. Thus, may not be possible to provide the wind park active power reference at the point of common coupling. When, in this situation, the wind speed suddenly changes to higher values, the wind turbines may be enabled to suddenly provide increased active power which may be considerably larger than the required wind park active power reference. In this situation, the output of the active power of the plural wind turbines is advantageously restricted such that the maximal cumulative overshoot is limited by the anti-wind up limit defined by the polynomial minus the losses.
Thereby, the overshoot may effectively be restricted, in order to avoid subsequent problems.
It should be understood that features, individually or in any combination disclosed, described or explained with respect to a method of determining an upper limit value for an active power controller of a wind park may also be applied, individually or in any combination, to an arrangement for determining an upper limit value according to an embodiment of the present invention and vice versa and further to a control system or a wind park according to embodiments of the present invention.
According to an embodiment of the present invention it is provided an arrangement for determining an upper limit value for an active power controller of a wind park comprising plural wind turbines connected at a point of common coupling, the method comprising a processor adapted to estimate a cumulative loss of active power occurring between output terminals of the plural wind turbines and the point of common coupling; and to determine the upper limit value based on the estimated loss of active power. The arrangement may be comprised in a wind park controller.
Furthermore, it is provided a control system for controlling an active power of a wind park comprising plural wind turbines connected at a point of common coupling, the system comprising the arrangement according to the preceding embodiment and the active power controller, connected to the arrangement.
Finally, it is provided a wind park comprising plural wind turbines connected at a point of common coupling; and a control system according to the preceding claim.
Some of the embodiments will be described in detail, with reference to the following figures, wherein like designations denote like members, wherein:
The wind park 1 according to an embodiment of the present invention illustrated in
The wind turbine controllers 9 receive each an active power wind turbine reference signal 11 which is provided by a control system 13 according to an embodiment of the present invention.
The control system (also referred to as wind park controller) 13 comprises an arrangement 15 for determining an upper limit value 33 for an active power controller 17 according to an embodiment of the present invention and further comprises the active power controller 17. The active power controller 17 outputs a controller output signal 19 and provides it to a distribution module 21 which derives from the controller output signal 19 the active power wind turbine reference signals 11 and provides them to the wind turbine controllers 9.
The control system 13 receives from an external entity a wind park active power reference 23 (Pref) which defines a desired total active power output at the point of common coupling 5. The actual active power output at the point of common coupling 5 is measured using a measurement sensor 25 and is provided as a measurement signal 27 to a difference element 29 with a negative sign. To the difference element 29 also the wind park active power reference 23 is provided such that the difference element 29 outputs a difference 31 between the wind park active power reference 23 (Pref) and the measured active power (represented by the measurement signal 27) at the point of common coupling 5. The error signal 31 is supplied to the active power controller 17. The active power controller 17 determines based on the error signal 31 the controller output signal 19 which is restricted to be within the upper limit value 33 and a lower limit value 35. The lower limit value 35 may for example be 0 MW.
The upper limit value is determined according to a method according to an embodiment of the present invention for which the arrangement 15 is used. The arrangement 15 comprises a processor 16 which is adapted to estimate a cumulative loss 18 of active power occurring between output terminals of the plural wind turbines 3 and the point of common coupling 5 and to determine the upper limit value 33 based on the estimated loss of active power.
The processor 16 may comprise for example an electronic storage in which a relationship between the cumulated loss of active power and the active power at the point of common coupling or the reference active power at the point of common coupling is stored.
According to an embodiment of the present invention the loss estimate may be done offline, i.e. the loss estimate may be done once offline, and the parameters may just be entered as parameters into the controller. According to another embodiment of the present invention the loss estimate may be done online, thereby continuously providing updates of the parameters to the controller.
The processor 16 may for example utilize the relationship between the active power at the point of common coupling and the loss of active power which may be described by a mathematical equation or may be obtained from a look-up table for example.
Therefore, the arrangement 15 or in particular the processor 16 may estimate the losses of active power as a function of the active power at the point of common coupling, as is illustrated in
Thereby, the upper limit value 33 may be calculated using the curve 43 for every wind park active power reference 23 or 37. According to embodiments of the present invention, the upper limit 33 is calculated as a sum of the estimated loss of active power 18 and the wind park AC power reference 23 (Pref). The sum is calculated using the summation element 20 which is comprised within the arrangement 15. Thereby, the upper limit value 33 is calculated as the sum of the estimated loss 18 and the wind park active power reference 23.
According to an embodiment of the present invention, the estimated cumulative loss 18 may be calculated using the curve 43. According to other embodiments of the present invention, the estimated cumulative loss 18 may be calculated using one of the curves 45 or 47 which are shifted by constant amounts relative to the best fit curve 43. The offset of the curves 45, 47 can be selected or chosen such as to reduce the risk of overshooting (for example subtracting a value from the best fit curve 43) arriving at curve 47 or such as to reduce the risk of not reaching the set point in the point of common coupling (for example by adding a positive value to the best fit curve 43) in order to arrive at the curve 45.
According to an embodiment of the present invention, the estimated loss of active power may be calculated according to following equation:
P
wind-up,offset(Pref)−A·Pref2+B·Pref+C
Herein, A, B and C are coefficients for example to be determined by fitting a curve to experimental data points, such as data points 41 illustrated in
Although the present invention has been disclosed in the form of preferred embodiments and variations thereon, it will be understood that numerous additional modifications and variations could be made thereto without departing from the scope of the invention.
For the sake of clarity, it is to be understood that the use of “a” or “an” throughout this application does not exclude a plurality, and “comprising” does not exclude other steps or elements. The mention of a “unit” or a “module” does not preclude the use of more than one unit or module.
| Number | Date | Country | Kind |
|---|---|---|---|
| 18151626.1 | Jan 2018 | EP | regional |
This application claims priority to PCT Application No. PCT/EP2019/050410, having a filing date of Jan. 9, 2019, which is based on EP Application No. 18151626.1, having a filing date of Jan. 15, 2018, the entire contents both of which are hereby incorporated by reference.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2019/050410 | 1/9/2019 | WO | 00 |
